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update hatch code #97

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Merged
brettle merged 8 commits into from
Mar 16, 2019
Merged

update hatch code #97

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a277c21
add new hatch mech code
kevinzwang Mar 9, 2019
7f8ccb2
minor changes and add comments
kevinzwang Mar 9, 2019
6907848
Merge branch 'dev' of https://github.com/DeepBlueRobotics/RobotCode20…
kevinzwang Mar 10, 2019
b8c1006
hardcode no delay for hatch eject
alexander-mcdowell Mar 16, 2019
660191b
change naming for clarity
DriverStationComputer Mar 16, 2019
a084c9f
Merge branch 'dev' of https://github.com/DeepBlueRobotics/RobotCode20…
DriverStationComputer Mar 16, 2019
44aa64a
re-delete files from merge
DriverStationComputer Mar 16, 2019
f033250
delete the imports of removed files
DriverStationComputer Mar 16, 2019
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8 changes: 4 additions & 4 deletions Robot2019/src/main/java/frc/robot/OI.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,9 @@
import frc.robot.commands.ActuateClimberRails;
import frc.robot.commands.Climb;
import frc.robot.commands.EjectCargo;
import frc.robot.commands.EjectHatch;
import frc.robot.commands.ToggleHatchEject;
import frc.robot.commands.IntakeCargo;
import frc.robot.commands.IntakeHatch;
import frc.robot.commands.ToggleHatchIntake;
import frc.robot.commands.ManualClimb;
import frc.robot.commands.NormalDrive;
import frc.robot.commands.ResetWobble;
Expand Down Expand Up @@ -70,9 +70,9 @@ public class OI {
normDriveBtn.whileHeld(new NormalDrive());

hatchIntakeBtn = new JoystickButton(manipulator, Manip.X);
hatchIntakeBtn.whenPressed(new IntakeHatch(hp));
hatchIntakeBtn.whenPressed(new ToggleHatchIntake(hp));
hatchEjectBtn = new JoystickButton(manipulator, Manip.Y);
hatchEjectBtn.whenPressed(new EjectHatch(hp));
hatchEjectBtn.whenPressed(new ToggleHatchEject(hp));

cargoIntakeBtn = new JoystickButton(manipulator, Manip.A); // TODO: set ports to correct values
cargoIntakeBtn.whenPressed(new IntakeCargo(cargo));
Expand Down
67 changes: 0 additions & 67 deletions Robot2019/src/main/java/frc/robot/commands/EjectHatch.java
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This file was deleted.

36 changes: 36 additions & 0 deletions Robot2019/src/main/java/frc/robot/commands/ToggleHatchEject.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,36 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/

package frc.robot.commands;

import edu.wpi.first.wpilibj.command.InstantCommand;
import frc.robot.subsystems.HatchPanel;

public class ToggleHatchEject extends InstantCommand {
private HatchPanel hp;

/**
* Toggles the eject pistons of the hatch panel mechanism, also closes the
* grabbing piston when ejecting
*/
public ToggleHatchEject(HatchPanel hp) {
requires(hp);
this.hp = hp;
}

@Override
protected void initialize() {
// If the pistons are currently extend them, retract them back, otherwise
// release and then eject
if (hp.state == HatchPanel.State.EJECTING) {
hp.reset();
} else {
hp.reset();
hp.eject();
}
}
}
4 changes: 2 additions & 2 deletions .../java/frc/robot/commands/IntakeHatch.java → ...frc/robot/commands/ToggleHatchIntake.java
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Expand Up @@ -10,13 +10,13 @@
import edu.wpi.first.wpilibj.command.InstantCommand;
import frc.robot.subsystems.HatchPanel;

public class IntakeHatch extends InstantCommand {
public class ToggleHatchIntake extends InstantCommand {
private HatchPanel hp;

/**
* Toggles the grabbing piston of the hatch mechanism
*/
public IntakeHatch(HatchPanel hp) {
public ToggleHatchIntake(HatchPanel hp) {
requires(hp);
this.hp = hp;
}
Expand Down
3 changes: 3 additions & 0 deletions Robot2019/src/main/java/frc/robot/subsystems/HatchPanel.java
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Original file line number Diff line number Diff line change
Expand Up @@ -34,18 +34,21 @@ public void reset() {
grabPiston.set(DoubleSolenoid.Value.kReverse);
ejectPistons.set(DoubleSolenoid.Value.kReverse);
state = State.DEFAULT;
SmartDashboard.putString("Hatch Piston State", state.name());
}

public void grab() {
grabPiston.set(DoubleSolenoid.Value.kForward);
ejectPistons.set(DoubleSolenoid.Value.kReverse);
state = State.GRABBING;
SmartDashboard.putString("Hatch Piston State", state.name());
}

public void eject() {
grabPiston.set(DoubleSolenoid.Value.kReverse);
ejectPistons.set(DoubleSolenoid.Value.kForward);
state = State.EJECTING;
SmartDashboard.putString("Hatch Piston State", state.name());
}

@Override
Expand Down